Example 2.

Find the transfer function represented by

dc(t)
+ 2c(t) = r(t)
dt

SOLUTION

dc(t)
+ 2c(t) = r(t)
dt

Taking the laplace transform of both sides, assuming zero initial conditions,

s C(s) +2 C(s) = R(s)

C(s) (s+2) = R(s)

C(s) 1
=
R(s) (s +2)

C(s) 1
G(s) = R(s) = (s +2)

Example 2.5

Use the result of Example 2.4 to find the response, c(t) to an input, r(t) = u(t), a unit step, assuming zero initial conditions.

SOLUTION:

Unit step,

r(t) = u(t)

Taking the laplace transform of both sides, assuming zero initial conditions,

1
R(s) =
s

C(s) 1
G(s) = R(s) = (s +2)

C(s) = R(s) G(s)

1 1
= ×
s (s +2)

1
= s (s +2)

1 A B
C(s) = =
s (s +2) s
+ (s +2)
 1 sB
s C(s)|s→0 = = A+
(s +2) |s→0 (s +2) |s→0

1
A = (s +2)
|s→0

1
=2

1 (s+2)A
(s+2) C(s)|s→-2 =
s |s→-2 = s |s→-2
+B

1
B =s
|s→-2

-1
=2

1 /2 1/2
C(s) =
s
- s+2

Taking the inverse laplace transform of each term yields,

1 1 −2 t
c(t) = - e
2 2

Skill-Assessment Exercise 2.3

Find the transfer function, G(s) = C(s)/R(s), corresponding to the differential equation
3 2 2
d c d c dc d r dr
+ 3 +7 + 5c = 2 +4 + 3r
dt
3
dt
2
dt dt dt

SOLUTION:
3 2 2
d c d c dc d r dr
+ 3 +7 + 5c = 2 +4 + 3r
dt
3
dt
2
dt dt dt

Taking the laplace transform of both sides, assuming zero initial conditions,
3 2
s C(s) + 3 s C(s) + 7 s C(s) + 5 C(s) = s2 R(s) + 4 s R(s) + 3 R(s)

( s3 + 3 s2 + 7 s + 5) C(s) = ( s2 + 4 s + 3) R(s)

2
C( s) (s + 4 s +3)
=
R( s) ( s +3 s2 +7 s+5)
3
 C( s)
The transfer function, G(s) =
R( s)
2
C( s) (s + 4 s +3)
G(s) = = 3
R( s) ( s +3 s2 +7 s+5)

Skill-Assessment Exercise 2.4

2 s+1
Find the differential equation corresponding to the transfer function, G(s) = 2
s + 6 s +2

SOLUTION:

C( s) 2 s+1
Transfer function, G(s) = = 2
R( s) s + 6 s +2

(s¿¿ 2+6 s+ 2)¿ C(s) = ( 2 s +1 )R(s)

s C ( s ) +6 s C ( s ) +2 C (s) = 2 s R ( s )+ R (s )
2

The differential equation,

2
d c dc dr
+6 +2c =2 +r
dt
2
dt dt

Skill-Assessment Exercise 2.5

s
Find the ramp response for a system whose transfer function is G(s) =
( s+ 4)(s+8)

SOLUTION:

Ramp response,

r(t) = t u(t)

Taking the laplace transform of both sides, assuming zero initial conditions,

1
R(s) = 2
s

C(s) s
G(s) = R(s) = ( s+ 4)(s+8)

C(s) = R(s) G(s)

 1 s
= 2 ×
s ( s+ 4)(s+8)

1
= s (s+ 4)(s +8)

1 A B C
C(s) = = + (s +4) + (s +8)
s (s+ 4)(s +8) s

1 sB sC
s C(s)|s→0 = = A+ +
(s +4)(s +8) |s→0 (s +4) |s→0 (s +8) |s→0

1
A = (s +4)(s +8)
|s→0

1
= 32

1 (s+4)A ( s+4 ) C
(s+4) C(s)|s→-4 = = + B +
s(s +8) |s→-4 s |s→-4 (s +8) |s→-4

1
B =
s(s +8) |s→-4

-1
= 16

1 (s+8)A ( s+8 ) B
(s+8) C(s)|s→-8 = = +
s(s +4) |s→-8 s |s→-8 (s +4) |s→-4 + C

1
C =s(s +4)
|s→-8

1
= 32

1 /32 1/16 1/32

C(s) =
s
- s+4 + s+8

Taking the inverse laplace transform of each term yields,

1 1 1
c(t) = - e− 4 t + e−8 t
32 16 32